Framework Stereotactic Surgical Robot Master Software System

Now Surgery CAD/CAM/ROBOTICS has become a hotspot research of domestic and foreign research institution. Our team developed a set of frameless stereotactic surgical robot system based on fiducial points mapping according to the require of the complication and minimally invasion of neurosurgery. The author is devoted to several issues on the PC Main Control Soft System of frameless stereotactic surgical robot.Firstly, according to the require of Surgery CAD/CAM/ROBOTICS registration, this paper proposed an automatic method to map the fiducial points of the actual head of the patient and the brain model made by 3D-Reconstruction soft. And realized the transformation from virtual body in image coordinate system to universe coordinate system via the principle of similar transformation. Secondly, kinematics of the frameless stereotactic surgical robot is analyzed with D-H notation. On this condition, the author analyzed the robot's operating task and the robot's motion path, and used cubic spline method for continuous path motion trajectories planning of surgical robot in Cartesian space.Based on the up theory and algorithm, the author projected the PC Main Control Soft of frameless stereotactic surgical robot by Visual C++ 6.0 environment and Matlab mathematic function library in Windows 2000 operating system. This aim of this research is to apply the robot technology to the neurosurgery and augment the capabilities of neurosurgery's ability.